An Improved VFF Approach for Robot Path Planning in Unknown and Dynamic Environments

Table 2

The values of parameters in the experiments.

Parameters	Value	Remarks
𝐹𝑐𝑟	1	Repulsion constant
𝐹𝑐𝑎	1	Attraction constant
𝑟	0.4 m	Radius of the robot
𝑅	2 m	Detection radius of sensors
𝑣𝑟	0.5 m/s	Velocity of the robot
𝑎	0.8 m	Safe range of the robot